1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btConvexPointCloudShape.h"
17 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
18
19 #include "LinearMath/btQuaternion.h"
20
setLocalScaling(const btVector3 & scaling)21 void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
22 {
23 m_localScaling = scaling;
24 recalcLocalAabb();
25 }
26
27 #ifndef __SPU__
localGetSupportingVertexWithoutMargin(const btVector3 & vec0) const28 btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
29 {
30 btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
31 btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
32
33 btVector3 vec = vec0;
34 btScalar lenSqr = vec.length2();
35 if (lenSqr < btScalar(0.0001))
36 {
37 vec.setValue(1, 0, 0);
38 }
39 else
40 {
41 btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
42 vec *= rlen;
43 }
44
45 if (m_numPoints > 0)
46 {
47 // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
48 // btVector3 scaled = vec * m_localScaling;
49 int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
50 return getScaledPoint(index);
51 }
52
53 return supVec;
54 }
55
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const56 void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
57 {
58 for (int j = 0; j < numVectors; j++)
59 {
60 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
61 btScalar maxDot;
62 int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
63 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
64 if (0 <= index)
65 {
66 //WARNING: don't swap next lines, the w component would get overwritten!
67 supportVerticesOut[j] = getScaledPoint(index);
68 supportVerticesOut[j][3] = maxDot;
69 }
70 }
71 }
72
localGetSupportingVertex(const btVector3 & vec) const73 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
74 {
75 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
76
77 if (getMargin() != btScalar(0.))
78 {
79 btVector3 vecnorm = vec;
80 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
81 {
82 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
83 }
84 vecnorm.normalize();
85 supVertex += getMargin() * vecnorm;
86 }
87 return supVertex;
88 }
89
90 #endif
91
92 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
93 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
getNumVertices() const94 int btConvexPointCloudShape::getNumVertices() const
95 {
96 return m_numPoints;
97 }
98
getNumEdges() const99 int btConvexPointCloudShape::getNumEdges() const
100 {
101 return 0;
102 }
103
getEdge(int i,btVector3 & pa,btVector3 & pb) const104 void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
105 {
106 btAssert(0);
107 }
108
getVertex(int i,btVector3 & vtx) const109 void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
110 {
111 vtx = m_unscaledPoints[i] * m_localScaling;
112 }
113
getNumPlanes() const114 int btConvexPointCloudShape::getNumPlanes() const
115 {
116 return 0;
117 }
118
getPlane(btVector3 &,btVector3 &,int) const119 void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
120 {
121 btAssert(0);
122 }
123
124 //not yet
isInside(const btVector3 &,btScalar) const125 bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
126 {
127 btAssert(0);
128 return false;
129 }
130